Manual oropharyngeal (OP) swab sampling is an intensive and risky task. In this article, a novel OP swab sampling device of low cost and high compliance is designed by combining the visuotactile sensor and the pneumat...
Manual oropharyngeal (OP) swab sampling is an intensive and risky task. In this article, a novel OP swab sampling device of low cost and high compliance is designed by combining the visuotactile sensor and the pneumatic actuator-based gripper. Here, a concave visuotactile sensor called CoTac is first proposed to address the problems of high cost and poor reliability of traditional multi-axis force sensors. Besides, by imitating the doctor's fingers, a soft pneumatic actuator with a rigid skeleton structure is designed, which is demonstrated to be reliable and safe via finite element modeling and experiments. Furthermore, we propose a sampling method that adopts a compliant control algorithm based on the adaptive virtual force to enhance the safety and compliance of the swab sampling process. The effectiveness of the device has been verified through sampling experiments as well as in vivo tests, indicating great application potential. The cost of the device is around 30 US dollars and the total weight of the functional part is less than 0.1 kg, allowing the device to be rapidly deployed on various robotic arms.
The advantages of graph neural networks (GNNs) in leveraging the graph topology of wireless networks have drawn increasing attentions. This paper studies the GNN-based learning approach for the sum-rate maximization i...
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We propose a quantum annealing protocol that effectively probes the dynamics of a single qubit on D-Wave’s quantum annealing hardware. This protocol uses D-Wave’s h-gain schedule functionality, which allows the rapi...
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We propose a quantum annealing protocol that effectively probes the dynamics of a single qubit on D-Wave’s quantum annealing hardware. This protocol uses D-Wave’s h-gain schedule functionality, which allows the rapid suppression of the longitudinal magnetic field at arbitrary points during the anneal. This feature enables us to distinguish between open and closed-system dynamics as well as the presence and absence of longitudinal magnetic field noise. We show that thermal fluctuations alone are not sufficient to explain the system’s dynamics and that a prominent role is played by magnetic field fluctuations, which need to be included in an open quantum system description. Moreover, our protocol only requires single-qubit measurements, which makes it suitable as an exploration and calibration tool for large-scale quantum annealing hardware.
作者:
Xu, RuijieChen, ShichaoSun, WenqiaoLv, YishengLuo, JialiangTang, YingInstitute of Automation
Chinese Academy of Sciences College of Information Science & Technology Beijing University of Chemical Technology The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Institute of Automation
Chinese Academy of Sciences The Center of National Railway Intelligent Transportation System Engineering and Technology China Academy of Railway Sciences Corporation Limited The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Transportation and Economics Research Institute
The Center of National Railway Intelligent Transportation System Engineering and Technology China Academy of Railway Sciences Corporation Limited Beijing China Institute of Automation
Chinese Academy of Sciences The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Institute of Automation
Chinese Academy of Sciences China University of Geosciences Beijing School of Information Engineering The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Rowan University
Department of Electrical and Computer Engineering Glassboro United States
Global Navigation Satellite Systems (GNSS) can provide real-time positioning information for outdoor users, but cannot for indoor scenarios or heavily occluded outdoor scenarios. Strap-down Inertial Navigation System ...
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In this paper we deal with stochastic optimization problems where the data distributions change in response to the decision variables. Traditionally, the study of optimization problems with decision-dependent distribu...
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In this paper, given a linear time-invariant strongly connected network, we study the problem of determining the minimum number of state variables that need to be simultaneously actuated and measured to ensure structu...
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Dear editor,How to deal with uncertainties and/or disturbances is a central issue pushing the development of both control science and control technology. Among various approaches, the active disturbance rejection cont...
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Dear editor,How to deal with uncertainties and/or disturbances is a central issue pushing the development of both control science and control technology. Among various approaches, the active disturbance rejection control (ADRC) has been successfully implemented in various industrial practices because of its uniqueness in concepts, simplicity
In this paper, we use elements of graph theory and port-Hamiltonian systems to develop a modular dynamic model describing the hydraulic behavior of 4th generation district heating networks. In contrast with earlier ge...
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ISBN:
(数字)9781665467612
ISBN:
(纸本)9781665467629
In this paper, we use elements of graph theory and port-Hamiltonian systems to develop a modular dynamic model describing the hydraulic behavior of 4th generation district heating networks. In contrast with earlier generation networks with a single or few heat sources and pumps, newer installations will prominently feature distributed heat generation units, bringing about a number of challenges for the control and stable operation of these systems, e.g., flow reversals and interactions among pumps controllers, which may lead to severe oscillations. We focus thus on flexible system setups with an arbitrary number of distributed heat sources and end-users interconnected through a meshed, multi-layer distribution network of pipes. Moreover, differently from related works on the topic, we incorporate dynamic models for the pumps in the system and explicitly account for the presence of pressure holding units. By inferring suitable (power-preserving) interconnection ports, we provide a number of claims about the passivity properties of the overall, interconnected system, which proves to be highly beneficial in the design of decentralized control schemes and stability analyses.
Previous controlled experiments on single-lane ring roads [1] have shown that a single partially autonomous vehicle (AV) can effectively mitigate traffic waves. This naturally prompts the question of how these finding...
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A multi-modal emotion recognition method based on facial multi-scale features and cross-modal attention (MS-FCA) network is proposed. The MSFCA model improves the traditional single-branch ViT network into a two-branc...
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ISBN:
(数字)9798331521950
ISBN:
(纸本)9798331521967
A multi-modal emotion recognition method based on facial multi-scale features and cross-modal attention (MS-FCA) network is proposed. The MSFCA model improves the traditional single-branch ViT network into a two-branch ViT architecture by using classification tokens in each branch to interact with picture embeddings in the other branch, which facilitates effective interactions between different scales of information. Subsequently, audio features are extracted using ResNet18 network. The cross-modal attention mechanism is used to obtain the weight matrices between different modal features, making full use of inter-modal correlation and effectively fusing visual and audio features for more accurate emotion recognition. Two datasets are used for the experiments: eNTERFACE'05 and REDVESS dataset. The experimental results show that the accuracy of the proposed method on the eNTERFACE'05 and REDVESS datasets is 85.42% and 83.84% respectively, which proves the effectiveness of the proposed method.
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